matlab中delta2tr,delta2tr.m · xcg/robotics-toolbox-matlab - Gitee.com

%DELTA2TR Convert differential motion to a homogeneous transform

%

% T = DELTA2TR(D) is a homogeneous transform (4x4) representing differential

% translation and rotation. The vector D=(dx, dy, dz, dRx, dRy, dRz)

% represents an infinitessimal motion, and is an approximation to the spatial

% velocity multiplied by time.

%

% See also tr2delta, SE3.delta.

% Copyright (C) 1993-2017, by Peter I. Corke

%

% This file is part of The Robotics Toolbox for MATLAB (RTB).

%

% RTB is free software: you can redistribute it and/or modify

% it under the terms of the GNU Lesser General Public License as published by

% the Free Software Foundation, either version 3 of the License, or

% (at your option) any later version.

%

% RTB is distributed in the hope that it will be useful,

% but WITHOUT ANY WARRANTY; without even the implied warranty of

% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

% GNU Lesser General Public License for more details.

%

% You should have received a copy of the GNU Leser General Public License

% along with RTB. If not, see .

%

% http://www.petercorke.com

function delta = delta2tr(d)

d = d(:);

delta = eye(4,4) + [skew(d(4:6)) d(1:3); 0 0 0 0];

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